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Native ESP32 CAN support (#1629)
Co-authored-by: Guillermo Ruffino <glm.net@gmail.com> Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>
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@ -58,6 +58,7 @@ esphome/components/esp32/* @esphome/core
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esphome/components/esp32_ble/* @jesserockz
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esphome/components/esp32_ble_server/* @jesserockz
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esphome/components/esp32_camera_web_server/* @ayufan
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esphome/components/esp32_can/* @Sympatron
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esphome/components/esp32_improv/* @jesserockz
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esphome/components/esp8266/* @esphome/core
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esphome/components/exposure_notifications/* @OttoWinter
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0
esphome/components/esp32_can/__init__.py
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0
esphome/components/esp32_can/__init__.py
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39
esphome/components/esp32_can/canbus.py
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39
esphome/components/esp32_can/canbus.py
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@ -0,0 +1,39 @@
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import esphome.codegen as cg
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import esphome.config_validation as cv
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from esphome import pins
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from esphome.components import canbus
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from esphome.const import CONF_ID, CONF_RX_PIN, CONF_TX_PIN
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from esphome.components.canbus import CanbusComponent, CanSpeed, CONF_BIT_RATE
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CODEOWNERS = ["@Sympatron"]
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DEPENDENCIES = ["esp32"]
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esp32_can_ns = cg.esphome_ns.namespace("esp32_can")
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esp32_can = esp32_can_ns.class_("ESP32Can", CanbusComponent)
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# Currently the driver only supports a subset of the bit rates defined in canbus
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CAN_SPEEDS = {
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"50KBPS": CanSpeed.CAN_50KBPS,
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"100KBPS": CanSpeed.CAN_100KBPS,
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"125KBPS": CanSpeed.CAN_125KBPS,
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"250KBPS": CanSpeed.CAN_250KBPS,
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"500KBPS": CanSpeed.CAN_500KBPS,
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"1000KBPS": CanSpeed.CAN_1000KBPS,
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}
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CONFIG_SCHEMA = canbus.CANBUS_SCHEMA.extend(
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{
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cv.GenerateID(): cv.declare_id(esp32_can),
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cv.Optional(CONF_BIT_RATE, default="125KBPS"): cv.enum(CAN_SPEEDS, upper=True),
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cv.Required(CONF_RX_PIN): pins.internal_gpio_input_pin_number,
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cv.Required(CONF_TX_PIN): pins.internal_gpio_output_pin_number,
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}
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)
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async def to_code(config):
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var = cg.new_Pvariable(config[CONF_ID])
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await canbus.register_canbus(var, config)
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cg.add(var.set_rx(config[CONF_RX_PIN]))
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cg.add(var.set_tx(config[CONF_TX_PIN]))
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123
esphome/components/esp32_can/esp32_can.cpp
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esphome/components/esp32_can/esp32_can.cpp
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#ifdef USE_ESP32
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#include "esp32_can.h"
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#include "esphome/core/log.h"
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#include <driver/can.h>
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// WORKAROUND, because CAN_IO_UNUSED is just defined as (-1) in this version
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// of the framework which does not work with -fpermissive
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#undef CAN_IO_UNUSED
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#define CAN_IO_UNUSED ((gpio_num_t) -1)
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namespace esphome {
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namespace esp32_can {
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static const char *const TAG = "esp32_can";
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static bool get_bitrate(canbus::CanSpeed bitrate, can_timing_config_t *t_config) {
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switch (bitrate) {
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case canbus::CAN_50KBPS:
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*t_config = (can_timing_config_t) CAN_TIMING_CONFIG_50KBITS();
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return true;
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case canbus::CAN_100KBPS:
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*t_config = (can_timing_config_t) CAN_TIMING_CONFIG_100KBITS();
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return true;
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case canbus::CAN_125KBPS:
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*t_config = (can_timing_config_t) CAN_TIMING_CONFIG_125KBITS();
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return true;
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case canbus::CAN_250KBPS:
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*t_config = (can_timing_config_t) CAN_TIMING_CONFIG_250KBITS();
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return true;
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case canbus::CAN_500KBPS:
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*t_config = (can_timing_config_t) CAN_TIMING_CONFIG_500KBITS();
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return true;
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case canbus::CAN_1000KBPS:
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*t_config = (can_timing_config_t) CAN_TIMING_CONFIG_1MBITS();
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return true;
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default:
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return false;
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}
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}
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bool ESP32Can::setup_internal() {
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can_general_config_t g_config =
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CAN_GENERAL_CONFIG_DEFAULT((gpio_num_t) this->tx_, (gpio_num_t) this->rx_, CAN_MODE_NORMAL);
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can_filter_config_t f_config = CAN_FILTER_CONFIG_ACCEPT_ALL();
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can_timing_config_t t_config;
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if (!get_bitrate(this->bit_rate_, &t_config)) {
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// invalid bit rate
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this->mark_failed();
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return false;
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}
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// Install CAN driver
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if (can_driver_install(&g_config, &t_config, &f_config) != ESP_OK) {
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// Failed to install driver
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this->mark_failed();
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return false;
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}
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// Start CAN driver
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if (can_start() != ESP_OK) {
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// Failed to start driver
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this->mark_failed();
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return false;
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}
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return true;
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}
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canbus::Error ESP32Can::send_message(struct canbus::CanFrame *frame) {
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if (frame->can_data_length_code > canbus::CAN_MAX_DATA_LENGTH) {
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return canbus::ERROR_FAILTX;
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}
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uint32_t flags = CAN_MSG_FLAG_NONE;
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if (frame->use_extended_id) {
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flags |= CAN_MSG_FLAG_EXTD;
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}
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if (frame->remote_transmission_request) {
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flags |= CAN_MSG_FLAG_RTR;
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}
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can_message_t message = {
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.flags = flags,
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.identifier = frame->can_id,
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.data_length_code = frame->can_data_length_code,
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};
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if (!frame->remote_transmission_request) {
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memcpy(message.data, frame->data, frame->can_data_length_code);
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}
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if (can_transmit(&message, pdMS_TO_TICKS(1000)) == ESP_OK) {
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return canbus::ERROR_OK;
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} else {
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return canbus::ERROR_ALLTXBUSY;
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}
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}
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canbus::Error ESP32Can::read_message(struct canbus::CanFrame *frame) {
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can_message_t message;
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if (can_receive(&message, 0) != ESP_OK) {
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return canbus::ERROR_NOMSG;
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}
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frame->can_id = message.identifier;
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frame->use_extended_id = message.flags & CAN_MSG_FLAG_EXTD;
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frame->remote_transmission_request = message.flags & CAN_MSG_FLAG_RTR;
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frame->can_data_length_code = message.data_length_code;
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if (!frame->remote_transmission_request) {
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size_t dlc =
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message.data_length_code < canbus::CAN_MAX_DATA_LENGTH ? message.data_length_code : canbus::CAN_MAX_DATA_LENGTH;
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memcpy(frame->data, message.data, dlc);
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}
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return canbus::ERROR_OK;
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}
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} // namespace esp32_can
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} // namespace esphome
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#endif
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29
esphome/components/esp32_can/esp32_can.h
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29
esphome/components/esp32_can/esp32_can.h
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#pragma once
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#ifdef USE_ESP32
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#include "esphome/components/canbus/canbus.h"
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#include "esphome/core/component.h"
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namespace esphome {
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namespace esp32_can {
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class ESP32Can : public canbus::Canbus {
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public:
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void set_rx(int rx) { rx_ = rx; }
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void set_tx(int tx) { tx_ = tx; }
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ESP32Can(){};
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protected:
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bool setup_internal() override;
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canbus::Error send_message(struct canbus::CanFrame *frame) override;
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canbus::Error read_message(struct canbus::CanFrame *frame) override;
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int rx_{-1};
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int tx_{-1};
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};
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} // namespace esp32_can
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} // namespace esphome
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#endif
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@ -2472,6 +2472,11 @@ text_sensor:
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id: glob_int
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value: '0'
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- canbus.send:
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canbus_id: mcp2515_can
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can_id: 23
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data: [0x10, 0x20, 0x30]
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- canbus.send:
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canbus_id: esp32_internal_can
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can_id: 23
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data: [0x10, 0x20, 0x30]
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- platform: template
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@ -2509,6 +2514,7 @@ rtttl:
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canbus:
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- platform: mcp2515
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id: mcp2515_can
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cs_pin: GPIO17
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can_id: 4
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bit_rate: 50kbps
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@ -2525,6 +2531,25 @@ canbus:
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lambda: 'return x[0] == 0x11;'
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then:
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light.toggle: ${roomname}_lights
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- platform: esp32_can
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id: esp32_internal_can
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rx_pin: GPIO04
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tx_pin: GPIO05
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can_id: 4
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bit_rate: 50kbps
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on_frame:
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- can_id: 500
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then:
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- lambda: |-
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std::string b(x.begin(), x.end());
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ESP_LOGD("canid 500", "%s", &b[0] );
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- can_id: 23
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then:
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- if:
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condition:
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lambda: 'return x[0] == 0x11;'
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then:
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light.toggle: ${roomname}_lights
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teleinfo:
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id: myteleinfo
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